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1. 发明专利

JP2000176869A TEACHING AND REPRODUCING DEVICE FOR MANIPULATOR AND ITS TEACHING AND REPRODUCING METHOD 失效
公开(公告)号：JP2000176869A
公开(公告)日：2000-06-27
申请号：JP34847698
申请日：1998-12-08
申请人： TOSHIBA CORP , JAPAN ATOMIC ENERGY RES INST
发明人： TADA EISUKE , KAKUDATE SATOSHI , YOSHIMI TAKU , TSUJI KOICHI , MIYAGAWA SHINICHI , KUBO TOMOMI
IPC分类号： B25J9/10 , B25J9/22 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To avoid remarkable variation of a terminal load of a manipulator, to perform working motion not causing remarkable slippage due to deflection along its terminal position and to eliminate limitation of a position and motion to be taken by the manipulator in accordance with a shape, etc., of a heavy weight. SOLUTION: A teaching and reproducing device 2 of a manipulator 1 carries out mounting and removing work in a state of gripping a heavy weight as an object and is furnished with a data forming means (teaching point forming module 4) to form a teaching point data including a teaching point at the time of a load existing to position the manipulator at a constant working position in an environment where the work is carried out in the state of gripping the heavy weight and a teaching point at the time of no load to position the manipulator at the constant working position in the environment in the state of not gripping the object, a data holding means (teaching point data base 6) to hold the teaching point data and a data reproducing module 5) to form and reproduce a teaching point row data including the teaching point in the presence of the load and the teaching point in the absence of load from the holding data.

2. 发明专利

JP2009233778A Method of positioning body of mobile robot 审中-公开
标题翻译：移动机器人定位方法
公开(公告)号：JP2009233778A
公开(公告)日：2009-10-15
申请号：JP2008081052
申请日：2008-03-26
申请人： Toshiba Corp , 株式会社東芝
发明人： YOSHIMI TAKU
IPC分类号： B25J5/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a method of positioning a mobile robot capable of performing handling operations in an optimum position/attitude by a simple processing when the mobile robot performs operations with a manipulator mounted thereon even if the manipulator mounted thereon is a complicated multi-joint one.
SOLUTION: The robot has data on the distribution of evaluation values for the operability of the manipulator in a plurality of horizontal planes obtained by horizontally cutting a solid which indicates the movable range of the manipulator. The robot body of the mobile robot is so positioned that, when the mobile robot performs an operation, the point which is obtained from the data on the distribution of evaluation values for the operability of the manipulator and where the operability of the manipulator is excellent matches the working point of the mobile robot.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种使移动机器人能够通过简单的处理执行处理操作的移动机器人的方法，当移动机器人安装在其上的机械手执行操作时，即使安装在其上的操纵器是一个复杂的多关节。解决方案：机器人具有关于通过水平切割指示机械手的可移动范围的实体获得的多个水平面中的操纵器的可操作性的评估值的分布的数据。移动机器人的机器人体的位置是这样定位的：当移动机器人执行操作时，从关于机械手的可操作性的评估值的分布的数据获得的点以及操纵器的可操作性极好地匹配的点移动机器人的工作点。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2009056558A Manipulator 审中-公开
标题翻译：操纵器
公开(公告)号：JP2009056558A
公开(公告)日：2009-03-19
申请号：JP2007226992
申请日：2007-08-31
申请人： Toshiba Corp , 株式会社東芝
发明人： SUGAWARA ATSUSHI , NAKAMOTO SHUICHI , YOSHIMI TAKU
IPC分类号： B25J19/00 , A61B19/00
CPC分类号： B25J19/0079 , B25J15/0009 , Y10T74/20305 , Y10T74/20335
摘要： PROBLEM TO BE SOLVED: To restore the cleanliness of an end effector part simply in a short time. SOLUTION: A manipulator 1 has an end effector 102, a support part 101 for supporting the end effector, and a fixing member 104 arranged in the support part. A fluid is supplied into the space between the fixing member and the support part, the gap between the fixing member and the support part widens, and a flexible cover 103 for covering the end effector is fixed to the support part. In addition, the manipulator has a fluid supply means for supplying the fluid. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：简单地在短时间内恢复末端执行器部件的清洁度。解决方案：操纵器1具有端部执行器102，用于支撑末端执行器的支撑部分101和布置在支撑部分中的固定部件104。将流体供给到固定构件和支撑部之间的空间中，固定构件和支撑部之间的间隙变宽，并且用于覆盖端部执行器的柔性盖103固定到支撑部。此外，操纵器具有供给流体的流体供给装置。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2006263844A Robot device, moving method of robot device and program 有权
标题翻译：机器人装置，机器人装置和程序的移动方法
公开(公告)号：JP2006263844A
公开(公告)日：2006-10-05
申请号：JP2005083614
申请日：2005-03-23
申请人： Toshiba Corp , 株式会社東芝
发明人： KOGA TOSHIYUKI , SUZUKI YASUHIKO , YOSHIMI TAKU
IPC分类号： B25J5/00 , G05D1/00 , G10L15/00
CPC分类号： G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D1/12
摘要： PROBLEM TO BE SOLVED: To provide a robot device, moving in response to a designation from a user according to a suitable moving method.
SOLUTION: This robot device autonomously performing the operation includes: a moving part 4 for moving the own device; and a target object position obtaining part 38 for periodically obtaining the positional information of the target object. A moving method determination and designating part 35, to which a designation related to the movement is input from the user, determines whether or not the moving destination is specified by the fixed positional information, and when it is determined to be specified, the control is conducted by a position moving control part 36, and when it is determined not to be specified, the control is conducted by a tracing moving control part 37 periodically obtaining the positional information from the target object position obtaining part 38, thereby operating the moving part 4.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种机器人装置，响应于来自用户的指定，根据适当的移动方法移动。解决方案：该自动执行操作的机器人装置包括：用于移动自身装置的移动部件4; 以及用于周期性地获得目标对象的位置信息的目标对象位置获取部38。从用户输入与移动相关的指定的移动方法确定和指定部35确定移动目的地是否由固定位置信息指定，并且当确定被指定时，控制是由位置移动控制部分36进行，并且当确定不指定时，通过跟踪移动控制部分37进行控制，周期性地从目标对象位置获得部分38获得位置信息，从而操作移动部分4 。版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2005103678A Robot apparatus 审中-公开
标题翻译：机器人装置
公开(公告)号：JP2005103678A
公开(公告)日：2005-04-21
申请号：JP2003337757
申请日：2003-09-29
申请人： Toshiba Corp , 株式会社東芝
发明人： TAMURA MASABUMI , MIYAZAKI TOMOTAKA , KAWABATA SHUNICHI , YOSHIMI TAKU , HIROKAWA JUNKO , OGAWA HIDEKI
IPC分类号： B25J13/00 , G06F13/00 , G06F19/00 , G06N3/00 , G08B25/00 , G08B25/04 , G08B25/08 , G08B25/10
CPC分类号： G06N3/008 , G05D1/0274 , G05D2201/0209
摘要： PROBLEM TO BE SOLVED: To provide a robot apparatus which carries out a monitoring action corresponding to domestic circumstances. SOLUTION: The robot apparatus has two operation modes, "a presence mode" and "an absence mode". A system controller 111 in the robot apparatus controls the monitoring action of the robot apparatus by means of a security function control section 202. In "the presence mode", the system controller 111 controls the motion of the robot apparatus so as to carry out a first monitoring operation corresponding to the unstationary circumstances that a user is at home. In addition, in "the absence mode", the system controller 111 controls the motion of the robot apparatus so as to carry out a second monitoring operation corresponding to the stationary circumstances that a user is not at home. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种执行与国内情况相对应的监视动作的机器人装置。
解决方案：机器人装置具有“存在模式”和“缺席模式”两种操作模式。机器人装置中的系统控制器111通过安全功能控制部202控制机器人装置的监视动作。在“存在模式”中，系统控制器111控制机器人装置的运动，以执行机器人装置对应于用户在家的不稳定情况的第一监视操作。此外，在“缺席模式”中，系统控制器111控制机器人装置的运动，以便执行与用户不在家的静止环境相对应的第二监视操作。版权所有（C）2005，JPO＆NCIPI

6. 发明专利

JPH08118271A ROBOT FOR FORCE CONTROL 失效
公开(公告)号：JPH08118271A
公开(公告)日：1996-05-14
申请号：JP25702994
申请日：1994-10-21
申请人： TOSHIBA MACHINE CO LTD , TOSHIBA CORP
发明人： NAGATAKI SHINTARO , YOSHIMI TAKU , JINNO MAKOTO
IPC分类号： B25J9/10 , B25J13/08
摘要： PURPOSE: To provide a robot which can carry out deburring, etc., of a contour line even in the case where the path length, etc., are variable, by receiving a prescribed auxiliary rectilinear shift instruction between the first and the second rectilinear shift instruction lines, and allowing an end effector to receive the second rectilinear shift instruction through the auxiliary rectilinear shift instruction after the first rectilinear shift instruction is received. CONSTITUTION: An operation instruction based on the instruction data of an objective substance 35 for instruction having a corner part 35a is formed by the first rectilinear shift instruction 23 in the region from the point PO to the point P11. An auxiliary rectilinear shift instruction 24 for the shift along an arc starting from the point P11 to the point P13 through the point P12 and the second rectilinear shift instruction 25 starting from the point P13 to the point P2 are formed. On an arc as an auxiliary line to the point P13 through the point P11 and the point P12, a number of auxiliary corner parts are formed. This auxiliary corner part is the part where the angle other than 180 deg. with respect to the first straight line is formed, and forms the pressing object of an end effector 12 in the case where the end effector 12 is pressed in the vertical direction for the first straight line.

7. 发明专利

JPH0731023A METHOD AND SYSTEM FOR HIGH POSITION WORK 失效
公开(公告)号：JPH0731023A
公开(公告)日：1995-01-31
申请号：JP19188393
申请日：1993-07-06
申请人： TOKYO ELECTRIC POWER CO , TOSHIBA CORP
发明人： TAMURA SHIGERU , YOKOYAMA TETSUSHI , TAKIGUCHI YUJI , SUENAGA KOICHIRO , SATO HIROKAZU , YOSHIMI TAKU , TATSUNO KYOICHI , ASARI YUKIO
IPC分类号： H02G1/02
摘要： PURPOSE:To alleviate the burden on an operator at the time of distribution wiring work by grasping the position of a high position working truck at an arbitrary parking position relative to a working object and correcting the working environmental information appropriately thereby conducting the work autonomously. CONSTITUTION:Necessary instructions are stored in a task planner 1. At a work site, relative distance between a working object and a high position working system is measured by a distance measuring means 4. The task planner 1 then determines the elements of a coordinate conversion matrix between the high position working system and the working object and converts the knowledge, stored on a component coordinate system with reference to the working object, into values on a system coordinate system with reference to the high position working system using the coordinate conversion matrix. Operational input of an operator is then converted into an operational instruction of the working machine with reference to concrete knowledge corresponding to the working environment of a working environment data base 2 and a generalized satisfactory conditional formula. The operational instruction is down loaded to a controller 5 which operates the high position system 6.

8. 发明专利

JP2010076058A Control device of multiple point manipulator and method for generating operation track of hand for multiple point manipulator 审中-公开
标题翻译：多点控制器的控制装置及用于生成多点操作手柄的操作轨迹的方法
公开(公告)号：JP2010076058A
公开(公告)日：2010-04-08
申请号：JP2008248044
申请日：2008-09-26
申请人： Toshiba Corp , 株式会社東芝
发明人： YOSHIMI TAKU
IPC分类号： B25J9/10
摘要： PROBLEM TO BE SOLVED: To provide a method for generating operation track of a hand for an multiple joint manipulator in which when a reverse coordinate transformation can not appropriately performed, an already-calculated target point can be reused without performing calculation to regenerate a singular point avoiding track at a singular point or in a vicinity thereof. SOLUTION: This device includes the multiple joint manipulator 7 with joints 9, 11, 13 being connected through arms 10, 12, provided with a hand 8 at an end; a driving device arranged on the multiple joint manipulator 7 to drive the joints 9, 11, 13; and a control device 4 moving the hand 8 along a linear track by driving the driving device so that the joints 9, 11, 13 can sequentially reach a target value in a joint angle coordinate system derived by reverse coordinate transformation to a joint angle coordinate corresponding to a target point on the linear track. When a singular point for which no appropriate solution can be obtained by reverse coordinate transformation exists on the linear track or in the vicinity, the control device 4 generates a conical avoiding track with its center at the target point where the singular point exits or at the vicinity of the singular point. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于生成多关节机械手的手的操作轨迹的方法，其中当不能适当地执行反向坐标变换时，可以重新使用已经计算的目标点而不执行计算以再生在奇异点或其附近避免轨迹的奇异点。解决方案：该装置包括多关节操纵器7，其中关节9,11,13通过臂10,12连接，手臂8的一端设置有臂8,12。布置在所述多关节操纵器7上以驱动所述关节9,11,13的驱动装置; 以及控制装置4，其通过驱动驱动装置沿着线性轨道移动手8，使得关节9,11,13能够顺序地达到通过反向坐标变换导出的关节角坐标系中的目标值与对应的关节角坐标到线性轨道上的目标点。当在线性轨道或附近存在不能通过反向坐标变换获得适当解的奇异点时，控制装置4产生圆锥形避开轨道，其中心位于奇异点离开的目标点处或在附近的奇点。版权所有（C）2010，JPO＆INPIT

9. 发明专利

JP2005043151A Object detector and object detecting method 有权
标题翻译：对象检测器和对象检测方法
公开(公告)号：JP2005043151A
公开(公告)日：2005-02-17
申请号：JP2003201682
申请日：2003-07-25
申请人： Toshiba Corp , 株式会社東芝
发明人： YOSHIMI TAKU , YAMAMOTO DAISUKE
IPC分类号： G01S15/89
摘要： PROBLEM TO BE SOLVED: To provide an object detector for more accurately specifying not only distance to a target object but the surface shape and position of the target object by a relatively small number of elastic-wave transreceivers.
SOLUTION: This object detector 100 is equipped with an elastic-wave transreceiving part 110 moving relatively to an object M having a definite surface shape, cyclically transmitting elastic waves, and sequentially receiving the elastic waves reflected by the object passing through a detection area 150, and an arithmetic part 140. The arithmetic part calculates distance data based on time periods until the respective elastic waves are received, extracts partial time periods during which distance data vary according to a specific pattern during a time period from the time when the object enters the detection area until it reaches a way position, and a time period from the time when the object enters the detection area until it passes therethrough, calculates direction data showing the direction of the object relative to the transreceiving part when the object is present at the relevant position in the detection area, and calculates the surface shape of at least a portion of the object based on the distance data and the direction data.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种物体检测器，用于通过相对少量的弹性波变换器更精确地指定目标物体的距离，但是目标物体的表面形状和位置。解决方案：该物体检测器100装备有相对于具有确定的表面形状的物体M移动的弹性波收发部110，循环地传递弹性波，并且顺序地接收由通过检测的物体反射的弹性波区域150和算术部分140.算术部分基于在接收到各个弹性波之前的时间段来计算距离数据，提取距离数据的时间段内的距离数据根据特定模式变化的部分时间段物体进入检测区域直到达到路径位置，并且从物体进入检测区域直到其通过的时间段，计算当物体存在时显示对象相对于收缩部分的方向的方向数据在检测区域的相关位置处，并且计算对象的至少一部分的表面形状基于距离数据和方向数据。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2003296855A Monitoring device 审中-公开
标题翻译：监控设备
公开(公告)号：JP2003296855A
公开(公告)日：2003-10-17
申请号：JP2002097911
申请日：2002-03-29
申请人： Toshiba Corp , 株式会社東芝
发明人： SUZUKI KAORU , YOSHIMI TAKU , YAMAMOTO DAISUKE , MATSUHIRA NOBUHITO , KIKUIRI NOBUTAKA
IPC分类号： G08B13/04 , G05B23/02 , G08B13/06 , G08B13/08 , G08B25/00 , G08B25/04 , G08B25/08
CPC分类号： G08B25/009 , G05B2219/45084 , G08B13/19623
摘要： PROBLEM TO BE SOLVED: To provide a highly versatile monitoring device in which an appropriate monitoring method for monitoring a monitoring object is automatically determined by the monitoring device itself on the basis of the designation of the monitoring object.
SOLUTION: In the monitoring device, the monitoring object is observed in an observation machine part 1 and prescribed coping is performed according to observed conditions. In this case, the knowledge and information of general features, observation methods and coping methods regarding the monitoring object are prepared in the storage part 5 of the monitoring device as general monitoring knowledge. By utilizing the general monitoring knowledge, individual knowledge and information regarding the monitoring object are registered to the storage part 4 as individual monitoring knowledge by a user. In a monitoring plan implementation part 3, the observation method and coping method of the monitoring object are planned according to the conditions by utilizing the general monitoring knowledge and the individual monitoring knowledge and the plan is carried out.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种高度通用的监视装置，其中，监视装置本身根据监视对象的指定自动确定用于监视监视对象的适当监视方法。
解决方案：在监视装置中，在观察机部1观察监视对象，根据观察条件进行规定的处理。在这种情况下，作为一般的监视知识，在监视装置的存储部5中准备关于监视对象的一般特征，观察方法和应对方法的知识和信息。通过利用一般监视知识，关于监视对象的个人知识和信息作为用户的个人监视知识登记到存储部分4。在监测计划实施第3部分中，通过利用一般监测知识和个体监测知识，根据条件规划监测对象的观测方法和应对方法，并执行计划。版权所有（C）2004，JPO

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